Allow *Testing.T argument before context

components/arm/universalrobots/ur.go

@@ -228,11 +228,12 @@ func urArmConnect(ctx context.Context, conf resource.Config, logger logging.Logg
 						newArm.isConnected = true
 						newArm.mu.Unlock()
 						break
-					} else {
-						newArm.mu.Lock()
-						newArm.isConnected = false
-						newArm.mu.Unlock()
 					}
+
+					newArm.mu.Lock()
+					newArm.isConnected = false
+					newArm.mu.Unlock()
+
 					if !goutils.SelectContextOrWait(cancelCtx, 1*time.Second) {
 						return
 					}

components/input/client.go

@@ -255,9 +255,8 @@ func (c *client) connectStream(ctx context.Context) {
 			c.logger.CError(ctx, err)
 			if utils.SelectContextOrWait(ctx, 3*time.Second) {
 				continue
-			} else {
-				return
 			}
+			return
 		}
 
 		c.mu.RLock()
@@ -292,9 +291,8 @@ func (c *client) connectStream(ctx context.Context) {
 				if utils.SelectContextOrWait(ctx, 3*time.Second) {
 					c.logger.CError(ctx, err)
 					break
-				} else {
-					return
 				}
+				return
 			}
 			if err != nil {
 				c.logger.CError(ctx, err)

components/input/gamepad/gamepad_linux.go

@@ -65,10 +65,9 @@ func createController(_ context.Context, name resource.Name, logger logging.Logg
 						g.logger.Error(err)
 					}
 					continue
-				} else {
-					g.logger.Error(err)
-					return
 				}
+				g.logger.Error(err)
+				return
 			}
 			g.eventDispatcher(ctxWithCancel)
 		}
@@ -310,10 +309,9 @@ func (g *gamepad) connectDev(ctx context.Context) error {
 			g.Model = g.dev.Name()
 			g.Mapping = mapping
 			break
-		} else {
-			if err := dev.Close(); err != nil {
-				return err
-			}
+		}
+		if err := dev.Close(); err != nil {
+			return err
 		}
 	}
 
@@ -332,10 +330,9 @@ func (g *gamepad) connectDev(ctx context.Context) error {
 				g.Model = g.dev.Name()
 				g.Mapping, _ = MappingForModel(defaultMapping)
 				break
-			} else {
-				if err := dev.Close(); err != nil {
-					return err
-				}
+			}
+			if err := dev.Close(); err != nil {
+				return err
 			}
 		}
 	}

components/motor/dmc4000/dmc.go

@@ -369,15 +369,15 @@ func (c *controller) sendCmd(cmd string) (string, error) {
 		if c.testChan != nil {
 			ret = []byte(<-c.testChan)
 			break
-		} else {
-			n, err := c.port.Read(buf)
-			if err != nil {
-				return string(ret), err
-			}
-			ret = append(ret, buf[:n]...)
-			if bytes.ContainsAny(buf[:n], ":?") {
-				break
-			}
+		}
+
+		n, err := c.port.Read(buf)
+		if err != nil {
+			return string(ret), err
+		}
+		ret = append(ret, buf[:n]...)
+		if bytes.ContainsAny(buf[:n], ":?") {
+			break
 		}
 	}
 	if bytes.LastIndexByte(ret, []byte(":")[0]) == len(ret)-1 {

components/movementsensor/gpsrtkserial/gpsrtkserial.go

@@ -701,10 +701,9 @@ func (g *rtkSerial) getNtripFromVRS() error {
 		if strings.HasPrefix(string(line), "HTTP/1.1 ") {
 			if strings.Contains(string(line), "200 OK") {
 				break
-			} else {
-				g.logger.Errorf("Bad HTTP response: %v", string(line))
-				return err
 			}
+			g.logger.Errorf("Bad HTTP response: %v", string(line))
+			return err
 		}
 	}
 

config/testutils/fake_cloud.go

@@ -44,7 +44,7 @@ type configAndCerts struct {
 }
 
 // NewFakeCloudServer creates and starts a new grpc server for the Viam Cloud.
-func NewFakeCloudServer(t *testing.T, ctx context.Context, logger logging.Logger) (*FakeCloudServer, func()) { //nolint:revive
+func NewFakeCloudServer(t *testing.T, ctx context.Context, logger logging.Logger) (*FakeCloudServer, func()) {
 	t.Helper()
 
 	listener, err := net.ListenTCP("tcp", &net.TCPAddr{Port: 0})

etc/.golangci.yaml

@@ -73,6 +73,38 @@ linters-settings:
       - fieldalignment
       - shadow
       - composites
+  revive:
+    # Unfortunately configuring a single rules disables all other rules, even
+    # if we set `enable-all: true`
+    #
+    # To get around this, we include default rules:
+    # https://github.com/mgechev/revive/blob/master/defaults.toml
+    rules:
+      - name: blank-imports
+      - name: context-as-argument
+        disabled: false
+        arguments:
+          - allowTypesBefore: "testing.TB,*testing.T,*testing.B,*testing.F"
+      - name: context-keys-type
+      - name: dot-imports
+      - name: empty-block
+      - name: error-naming
+      - name: error-return
+      - name: error-strings
+      - name: errorf
+      - name: exported
+      - name: increment-decrement
+      - name: indent-error-flow
+      - name: package-comments
+      - name: range
+      - name: receiver-naming
+      - name: redefines-builtin-id
+      - name: superfluous-else
+      - name: time-naming
+      - name: unexported-return
+      - name: unreachable-code
+      - name: var-declaration
+      - name: var-naming
   lll:
     line-length: 140
 issues:

examples/customresources/demos/complexmodule/moduletest/module_test.go

@@ -70,9 +70,8 @@ func TestComplexModule(t *testing.T) {
 				test.That(t, server.Stop(), test.ShouldBeNil)
 			}()
 			break
-		} else {
-			server.Stop()
 		}
+		server.Stop()
 	}
 	test.That(t, success, test.ShouldBeTrue)
 
@@ -395,9 +394,8 @@ func TestValidationFailure(t *testing.T) {
 				test.That(t, server.Stop(), test.ShouldBeNil)
 			}()
 			break
-		} else {
-			server.Stop()
 		}
+		server.Stop()
 	}
 	test.That(t, success, test.ShouldBeTrue)
 

examples/customresources/demos/multiplemodules/moduletest/module_test.go

@@ -61,9 +61,8 @@ func TestComplexModules(t *testing.T) {
 				test.That(t, server.Stop(), test.ShouldBeNil)
 			}()
 			break
-		} else {
-			server.Stop()
 		}
+		server.Stop()
 	}
 	test.That(t, success, test.ShouldBeTrue)
 

examples/customresources/demos/remoteserver/server_test.go

@@ -54,13 +54,12 @@ func TestGizmo(t *testing.T) {
 			logger.Infow("Port in use. Restarting on new port.", "port", port, "err", err)
 			test.That(t, remoteB.Close(context.Background()), test.ShouldBeNil)
 			continue
-		} else {
-			test.That(t, err, test.ShouldBeNil)
-			defer func() {
-				test.That(t, remoteB.Close(context.Background()), test.ShouldBeNil)
-			}()
-			break
 		}
+		test.That(t, err, test.ShouldBeNil)
+		defer func() {
+			test.That(t, remoteB.Close(context.Background()), test.ShouldBeNil)
+		}()
+		break
 	}
 
 	// Create remote A. Loop to ensure we find an available port.
@@ -102,11 +101,10 @@ func TestGizmo(t *testing.T) {
 				test.That(t, pmgr.Stop(), test.ShouldBeNil)
 			}()
 			break
-		} else {
-			logger.Infow("Port in use. Restarting on new port.", "port", port, "err", err)
-			pmgr.Stop()
-			continue
 		}
+		logger.Infow("Port in use. Restarting on new port.", "port", port, "err", err)
+		pmgr.Stop()
+		continue
 	}
 	test.That(t, success, test.ShouldBeTrue)
 

module/module_interceptors_test.go

@@ -61,11 +61,10 @@ func TestOpID(t *testing.T) {
 				test.That(t, server.Stop(), test.ShouldBeNil)
 			}()
 			break
-		} else {
-			logger.Infow("Port in use. Restarting on new port.", "port", port, "err", err)
-			server.Stop()
-			continue
 		}
+		logger.Infow("Port in use. Restarting on new port.", "port", port, "err", err)
+		server.Stop()
+		continue
 	}
 	test.That(t, success, test.ShouldBeTrue)
 

motionplan/cBiRRT.go

@@ -309,12 +309,11 @@ func (mp *cBiRRTMotionPlanner) constrainedExtend(
 						qstep[i] = q * 2.0
 					}
 					continue
-				} else {
-					// We've arrived back at very nearly the same configuration again; stop solving and send back oldNear.
-					// Do not add the near-identical configuration to the RRT map
-					mchan <- oldNear
-					return
 				}
+				// We've arrived back at very nearly the same configuration again; stop solving and send back oldNear.
+				// Do not add the near-identical configuration to the RRT map
+				mchan <- oldNear
+				return
 			}
 			if doubled {
 				copy(qstep, mp.planOpts.qstep)

pointcloud/voxel_segmentation.go

@@ -80,13 +80,12 @@ func (vg *VoxelGrid) GetPlanesFromLabels() ([]Plane, PointCloud, error) {
 			for p, d := range vox.Points {
 				if _, ok := seen[p]; ok { // already assigned point to another label
 					continue
-				} else {
-					seen[p] = true
-					if _, ok := pointsByLabel[vox.Label]; !ok {
-						pointsByLabel[vox.Label] = make(map[r3.Vector]Data)
-					}
-					pointsByLabel[vox.Label][p] = d
 				}
+				seen[p] = true
+				if _, ok := pointsByLabel[vox.Label]; !ok {
+					pointsByLabel[vox.Label] = make(map[r3.Vector]Data)
+				}
+				pointsByLabel[vox.Label][p] = d
 			}
 		} else if len(vox.Points) == len(vox.PointLabels) {
 			// voxel has points for either no plane or at least two planes
@@ -95,14 +94,13 @@ func (vg *VoxelGrid) GetPlanesFromLabels() ([]Plane, PointCloud, error) {
 			for p, d := range vox.Points {
 				if _, ok := seen[p]; ok { // already assigned point to another label
 					continue
-				} else {
-					seen[p] = true
-					ptLabel := vox.PointLabels[i]
-					if _, ok := pointsByLabel[ptLabel]; !ok {
-						pointsByLabel[ptLabel] = make(map[r3.Vector]Data)
-					}
-					pointsByLabel[ptLabel][p] = d
 				}
+				seen[p] = true
+				ptLabel := vox.PointLabels[i]
+				if _, ok := pointsByLabel[ptLabel]; !ok {
+					pointsByLabel[ptLabel] = make(map[r3.Vector]Data)
+				}
+				pointsByLabel[ptLabel][p] = d
 				i++
 			}
 		}

robot/client/client.go

@@ -435,14 +435,12 @@ func (rc *RobotClient) checkConnection(ctx context.Context, checkEvery, reconnec
 					// if pipe is closed, we know for sure we lost connection
 					if isClosedPipeError(err) {
 						break
-					} else {
-						// otherwise retry
-						continue
 					}
-				} else {
-					outerError = nil
-					break
+					// otherwise retry
+					continue
 				}
+				outerError = nil
+				break
 			}
 			if outerError != nil {
 				rc.Logger().CErrorw(ctx,

services/motion/builtin/state/state_test.go

@@ -131,8 +131,7 @@ func TestState(t *testing.T) {
 				return nil, errors.New("planning failed")
 			},
 			executeFunc: func(ctx context.Context, plan motionplan.Plan) (state.ExecuteResponse, error) {
-				t.Log("should not be called as planning failed")
-				t.FailNow()
+				t.Fatal("should not be called as planning failed") //nolint:revive
 
 				if err := ctx.Err(); err != nil {
 					return state.ExecuteResponse{}, err

vision/classification/classification_utils.go

@@ -20,14 +20,13 @@ func Overlay(img image.Image, classifications Classifications) (image.Image, err
 		// Skip unknown labels generated by Viam-trained models.
 		if classification.Label() == "VIAM_UNKNOWN" {
 			continue
-		} else {
-			rimage.DrawString(gimg,
-				fmt.Sprintf("%v: %.2f", classification.Label(), classification.Score()),
-				image.Point{x, y},
-				color.NRGBA{255, 0, 0, 255},
-				30)
-			y += 30
 		}
+		rimage.DrawString(gimg,
+			fmt.Sprintf("%v: %.2f", classification.Label(), classification.Score()),
+			image.Point{x, y},
+			color.NRGBA{255, 0, 0, 255},
+			30)
+		y += 30
 	}
 	return gimg.Image(), nil
 }

vision/segmentation/plane_segmentation.go

@@ -325,9 +325,8 @@ func (pcps *pointCloudPlaneSegmentation) FindPlanes(ctx context.Context) ([]pc.P
 			// this cloud is not valid so revert to last
 			nonPlaneCloud = lastNonPlaneCloud
 			break
-		} else {
-			nonPlaneCloud = smallerNonPlaneCloud
 		}
+		nonPlaneCloud = smallerNonPlaneCloud
 		planes = append(planes, smallerPlane)
 	}
 	return planes, nonPlaneCloud, nil

web/server/entrypoint_test.go

@@ -70,11 +70,10 @@ func TestEntrypoint(t *testing.T) {
 					test.That(t, server.Stop(), test.ShouldBeNil)
 				}()
 				break
-			} else {
-				logger.Infow("Port in use. Restarting on new port.", "port", port, "err", err)
-				server.Stop()
-				continue
 			}
+			logger.Infow("Port in use. Restarting on new port.", "port", port, "err", err)
+			server.Stop()
+			continue
 		}
 		test.That(t, success, test.ShouldBeTrue)